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2014 | Vol. 34, no. 3 | 35--44
Tytuł artykułu

Kinect sensor implementation in FANUC robot manipulation

Wybrane pełne teksty z tego czasopisma
Warianty tytułu
PL
Implementacja sterowania czujnikiem kinect dla robota FANUC S-420F
Języki publikacji
EN
Abstrakty
EN
The paper presents a control system of the FANUC S-420F, a six-axis robot. Its control system is based on gesture monitoring and recognition using the Microsoft Kinect Motion Controller. The motion of the operator’s/controller’s hand can naturally and intuitively control the robot that performs day-to-day pick-and-place operations. The system was implemented in the Matlab/Simulink environment with Kinect for Windows Runtime and Kinect SDK & Developer Toolkit library. To investigate the system, a set of gestures used to control the robot was developed. The influence of light, distance from the robot, the speed of gestures performed by the operator on the system was tested. The paper presents test results and elaborates on the advantages and potential problems of the proposed control system.
EN
W artykule przedstawiono system sterowana robotem przemysłowym FANUC S-420F o sześciu stopniach swobody. Jest on oparty na śledzeniu gestów operatora i ich rozpoznawaniu za pomocą kontrolera ruchu Microsoft Kinect. Dzięki wykorzystaniu ręki operatora jako kontrolera uzyskano naturalny, intuicyjny sposób sterowania robotem, naśladujący codzienną czynność przynoszenia przedmiotów. Do realizacji systemu wykorzystano środowisko Matlab/Simulink z pakietem Kinect for Windows Runtime oraz biblioteki Kinect SDK & Developer Toolkit. Na potrzeby badań zaproponowanego systemu opracowano zestaw podstawowych gestów, które pozwalają na sterowanie robotem. Testy obejmowały wpływ na system m.in. takich parametrów, jak oświetlenie i szybkość wykonywania gestów przez operatora. W artykule przedstawiono uzyskane wyniki oraz omówiono zalety zaproponowanego systemu sterowania i potencjalne problemy.
Wydawca

Rocznik
Strony
35--44
Opis fizyczny
Bibliogr. 24 poz., rys., tab.
Twórcy
autor
  • Institute of Mechanical Technology, West Pomeranian University of Technology
  • Institute of Mechanical Technology, West Pomeranian University of Technology
autor
  • Institute of Mechanical Technology, West Pomeranian University of Technology
Bibliografia
  • [1] Arango C., MartíNez J., PéRez V., Master-slave system using Kinect and an industrial robot for teleoperations, in: Proceedings of the Health Care Exchanges (PAHCE), Pan American 2013, p. 1-6.
  • [2] Bejczy A.K., Virtual reality in robotics, in: Proceedings of the IEEE Symposium on Emerging Technologies & Factory Automation, ETFA 1996, p. 7-15.
  • [3] Brogårdh T., Present and future robot control development - An industrial perspective, Annual Reviews in Control, 2007, 31(1), p. 69-79.
  • [4] Du G., Zhang P., Markerless human-robot interface for dual robot manipulators using Kinect sensor, Robotics and Computer-Integrated Manufacturing, 2014, 30(2), p. 150-159.
  • [5] Fanuc Robotics Maintenance manual [MARMKS42H1174EF][B-67205EG01J.pdf.
  • [6] Fanuc Robotics MAROKENHA0885EF - Enhanced KAREŁ Operations Manual v. 2.22 R.pdf.
  • [7] Gallo L., Placitelli A.P., Ciampi M., Controller-free exploration of medical image data: Ex-periencing the Kinect, in: Proeeedings of the 2011 24th International Symposium on Computer-Based Medical Systems (CBMS), Bristol, IEEE 2011, p. 1-6.
  • [8] Gośliński J., Owczarek P., Rybarczyk D., The use of Kinect sensor to control manipulator with electrohydraulic servodrives, Pomiary, Automatyka, Robotyka, 2013, 17, p. 481-486.
  • [9] http://msdn.microsoft.com/en-us/library/jj 131429.aspx , stan na 30.06.2014
  • [10] Karabegović I., Karabegović E., Husak E., Industrial robot applications in manufacturing process in Asia and Australia, International Journal of Engineering & Technology, 2013, 11(01), p. 200-204.
  • [11] Langmann B., Hartmann K., Loffeld O., Depth Camera Technology Comparison and Performance Evaluation, in: Proceedings of the 1st International Conference on Pattern Recognition Applications and Methods, Portugal, SciTePress, 2012, p. 438^144.
  • [12] Liu W., Ren H., Zhang W., Song S., Cognitive tracking of surgical instruments based on stereo vision and depth sensing, in: Proceedings of the 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, IEEE 2013, p. 316-321.
  • [13] Mohamed Abderrahim, Alla Khamis, Garrido S., Accuracy and Calibration Issues of Industrial Manipulators, in: Industrial Robotics: Programming, Simulation and Applications, ed. L.K. Huat, Germany, Pro Literatur Verlag 2006, p. 131-145.
  • [14] Oszust M., Wysocki M., Recognition of signed expressions observed by Kinect Sensor, in: Proceedings of the 2013 l0th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS), Krakow, IEEE 2013, p. 220-225.
  • [15] Pan Z. et al., Recent Progress on Programming Methods for Industrial Robots, in: Proceedings of the Robotics (ISR), 2010 41st International Symposium, VDE, Germany 2010, p. 1-8.
  • [16] Pretorius J., Van Der Merwe A.F., Development and implementation of a telerobotic system with visual and haptic feedback: current progress, in: Proceedings of The Industrial Systems and Engineering Management, South Africa Industrial Engineering, Stellenbosch University 2011.
  • [17] Rakprayoon P., Ruchanurucks M., Coundoul A., Kinect-based obstacle detection for manipulator, in: Proceedings of the 2011 IEEE/SICE International Symposium on System Integration (SII), Kyoto, IEEE 2011, p. 68-73.
  • [18] Sanna A., Lamberti F., Paravati G., Manuri F., A Kineet-based natural interface for quad-rotor eontrol, Entertainment Computing, 2013, 4(3), p. 179-186.
  • [19] Shen Y. et al., A Novel Human Detection Approach Based on Depth Map via Kinect, in: Proceedings of the 2013 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), Portland, OR, IEEE 2013, p. 535-541.
  • [20] Shirwalkar S. et al., Telemanipulation of an industrial robotic arm using gesture recognition with Kinect, in: Proceedings of the 2013 International Conference on Control, Automation. Robotics and Embedded Systems (CARE), Jabalpur, IEEE 2013, p. 1-6.
  • [21] Slot K., Owczarek A., Janczyk M., Vision based human-machine interfaces: visem recognition. Computer Vision, Robotics and Industrial Applications, 2013, vol. 3, p. 173-194.
  • [22] Song W. et al., Teleoperation Humanoid Robot Control System Based on Kinect Sensor, in Proceedings of the 2012 4th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC), Jiangxi, IEEE 2012, p. 264-267.
  • [23] Teixeira J.M. et al., Open/Closed Hand Classification Using Kinect Data, in: Proceedings o the 2012 14th Symposium on Virtual and Augmented Reality (SVR), Rio Janiero, IEEI 2012, p. 18-25.
  • [24] Xiang Y. et al., A human-centered Virtual Factory, in: Proceedings of the Management Science and Industrial Engineering (MSIE), 2011 International Conference on Harbin, IEEI 2011, p. 1138-1142.
Typ dokumentu
Bibliografia
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Identyfikator YADDA
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